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        </div><article class="page single"><h1 class="single-title animate__animated animate__flipInX">EtherCAT从会到不会——EtherCAT通讯全流程（5）</h1><div class="post-meta">
            <div class="post-meta-line"><span class="post-author"><a href="/" title="Author" rel="author" class="author"><i class="fas fa-user-circle fa-fw" aria-hidden="true"></i>Jacob Chen</a></span>&nbsp;<span class="post-category">收录于 <a href="/categories/%E7%8E%B0%E5%9C%BA%E6%80%BB%E7%BA%BF/"><i class="far fa-folder fa-fw" aria-hidden="true"></i>现场总线</a></span></div>
            <div class="post-meta-line"><i class="far fa-calendar-alt fa-fw" aria-hidden="true"></i>&nbsp;<time datetime="2023-09-11">2023-09-11</time>&nbsp;<i class="fas fa-pencil-alt fa-fw" aria-hidden="true"></i>&nbsp;约 381 字&nbsp;
                <i class="far fa-clock fa-fw" aria-hidden="true"></i>&nbsp;预计阅读 1 分钟&nbsp;</div>
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<blockquote>
<p>本来还想着起什么名字，但是对比起内容，名字什么的一点都不重要。<br/>
最近我又想起要写点什么东西防止最后什么都不剩下。那就从EtherCAT开始吧！</p>
</blockquote>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e4%b8%bb%e7%ab%99%e5%90%af%e5%8a%a8%e5%85%a8%e6%b5%81%e7%a8%8b.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e4%b8%bb%e7%ab%99%e5%90%af%e5%8a%a8%e5%85%a8%e6%b5%81%e7%a8%8b.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e4%b8%bb%e7%ab%99%e5%90%af%e5%8a%a8%e5%85%a8%e6%b5%81%e7%a8%8b.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e4%b8%bb%e7%ab%99%e5%90%af%e5%8a%a8%e5%85%a8%e6%b5%81%e7%a8%8b.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT主站启动全流程.png"
        title="EtherCAT主站启动全流程" /></p>
<p>注：</p>
<p>1、每个EtherCAT主站都有其自己的启动流程，但是大致如上流程图所示。有可能是Init阶段的寻址方式不同，也有可能是Pre-OP到Safe-OP过程中还会多发其他Mailbox数据。</p>
<p>2、以codesys系统为例，在Pre-OP跳转到Safe-OP过程中，除了配置Mailbox、Process Data之外，还会将每个从站的配置的启动参数依次通过Mailbox数据发送给从站。</p>
<p>3、Safe-OP阶段，主站会使用配置好的FMMU下发PDO数据给从站，从站会反馈PDO数据回主站，但是并不采取任何动作。当经过几个周期的通讯，主站确认通讯正常之后，EtherCAT主站就会下发AL命令请求从站切换至OP状态，随后自动运行。</p>
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                <span>更新于 2023-09-11</span>
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